Identifying stopping place for autonomous vehicle

ABSTRACT

Among other things, a vehicle is caused to drive autonomously through a road network toward a defined goal position, and, if no potential stopping place that is in the vicinity of the goal position and is acceptable and feasible can be identified, a human operator not onboard the vehicle is enabled to drive the vehicle to a stopping place.

BACKGROUND

This description relates to identifying stopping places for anautonomous vehicle.

As shown in FIG. 1 , a typical activity of an autonomous vehicle (AV) 10is to safely and reliably drive through a road environment 12 to a goalposition 14, while avoiding vehicles, pedestrians, cyclists and otherobstacles 16 and obeying the rules of the road. We sometimes refer tothe AV's ability to perform this activity as an “autonomous drivingcapability”.

The autonomous driving capability of an AV typically is supported by anarray of technology 18, 20 including hardware, software, and stored andreal time data that we together sometimes refer to as an AV system 22.Some or all of the technology is onboard the AV and some of thetechnology may be at a server, for example, in the cloud. Most AVsystems include some or all of the following basic components:

1. Sensors 24 able to measure or infer or both properties of the AV'sstate and condition, such as the vehicle's position, linear and angularvelocity and acceleration, and heading (i.e., orientation of the leadingend of the AV). Such sensors include but are not limited to, e.g., GPS,inertial measurement units that measure both vehicle linearaccelerations and angular rates, individual wheel speed sensors andderived estimates of individual wheel slip ratios, individual wheelbrake pressure or braking torque sensors, engine torque or individualwheel torque sensors, and steering wheel angle and angular rate sensors.

2. Sensors 26 able to measure properties of the vehicle's surroundings.Such sensors include but are not limited to, e.g., LIDAR, RADAR,monocular or stereo video cameras in the visible light, infrared, orthermal spectra, ultrasonic sensors, time-of-flight (TOF) depth sensors,as well as temperature and rain sensors.

3. Devices 28 able to communicate the measured or inferred or bothproperties of other vehicles' states and conditions, such as othervehicles' positions, linear and angular velocities, and accelerations,and headings. These devices include Vehicle-to-Vehicle (V2) andVehicle-to-Infrastructure (V2I) communication devices, and devices forwireless communications over point-to-point or ad-hoc networks or both.The devices can operate across the electromagnetic spectrum (includingradio and optical communications) or other media (e.g., acousticcommunications).

4. Data sources 30 providing historical, real-time, or predictiveinformation or combinations of them about the local environment,including traffic congestion updates and weather conditions. Such datamay be stored on a memory storage unit 32 on the vehicle or transmittedto the vehicle by wireless communication from a remotely locateddatabase 34.

5. Data sources 36 providing digital road map data drawn from GISdatabases, potentially including high-precision maps of the roadwaygeometric properties, maps describing road network connectivityproperties, maps describing roadway physical properties (such as thenumber of vehicular and cyclist travel lanes, lane width, lane trafficdirection, lane marker type and location), and maps describing thespatial locations of road features such as crosswalks, traffic signs ofvarious types (e.g., stop, yield), and traffic signals of various types(e.g., red-yellow-green indicators, flashing yellow or red indicators,right or left turn arrows). Such data may be stored on a memory storageunit on the AV or transmitted to the AV by wireless communication from aremotely located database.

6. Data sources 38 providing historical information about drivingproperties (e.g., typical speed and acceleration profiles) of vehiclesthat have previously traveled along the local road section at a similartime of day. Such data may be stored on a memory storage unit on the AVor transmitted to the AV by wireless communication from a remotelylocated database.

7. A computer system 40 located on the AV that is capable of executingalgorithms (e.g., processes 42) for the on-line (that is, real-time onboard) generation of control actions based on both real-time sensor dataand prior information, allowing an AV to execute its autonomous drivingcapability.

8. A display device 44 that is connected to the computer system toprovide information and alerts of various types to occupants of the AV.

9. A wireless communication device 46 to transmit data from a remotelylocated database 34 to the AV and to transmit vehicle sensor data ordata related to driver performance to a remotely located database 34.

10. Functional devices and features 48 of the AV that are instrumentedto receive and act on commands for driving (e.g., steering,acceleration, deceleration, gear selection) and for auxiliary functions(e.g., turn indicator activation) from the computer system.

11. A memory 32.

SUMMARY

In general, in an aspect, a vehicle is caused to drive autonomouslythrough a road network toward a defined goal position. Currentinformation is analyzed about potential stopping places in the vicinityof the goal position, to make a choice of a currently selected stoppingplace that is acceptable and feasible. The vehicle is caused to driveautonomously toward the currently selected stopping place. Theactivities are repeated until the vehicle stops at a currently selectedstopping place.

Implementations may include one or a combination of two or more of thefollowing features. The analyzing of current information includesanalyzing a combination of static information that is known prior to thevehicle beginning to drive autonomously through the road network andinformation that is obtained during the autonomous driving. Theanalyzing of current information about potential stopping placesincludes continuously analyzing information from sensors on the vehicleor information from one or more other sources or both. The analyzing ofcurrent information about potential stopping places includes applying apredefined strategy for choosing a currently selected stopping place.The strategy includes stopping at the first feasible stopping place inthe vicinity of the goal position. The strategy includes stopping at themost desirable among the currently feasible stopping places in thevicinity of the goal position. The strategy includes, if the vehicle hasnot stopped at a currently selected stopping place within a specifiedperiod of time, stopping at the first available stopping place in thevicinity of the goal position. The strategy includes trading off betweenchoosing a best possible stopping place and a cost incurred incontinuing to analyze current information to make a choice. If thevehicle has not stopped at a currently selected stopping place, theactivities are repeated using a relaxed threshold for acceptability, arelaxed threshold for feasibility, or both. If the vehicle has notstopped at a currently selected stopping place that is acceptable andfeasible, the activities are repeated based on a redefined goalposition. If the vehicle has not stopped at a currently selectedstopping place, the activities are repeated based on an expandedvicinity of the goal position. If the vehicle has not stopped at acurrently selected stopping place, the activities are repeated during anextended period of time beyond the specified amount of time. If thevehicle has not stopped at a currently selected stopping place, thevehicle is enabled to be controlled from a remote location. If thevehicle has not stopped at a currently selected stopping place, the stopis aborted. If the vehicle has not stopped at a currently selectedstopping place, a threshold for acceptability is relaxed, the goalposition is redefined, or the stop is aborted the stop, based oninformation provided by a passenger. If the vehicle has not stopped at acurrently selected stopping place, a threshold for acceptability isautomatically relaxed, the goal position is automatically redefined, orthe stop is automatically aborting. The analyzing of current informationincludes analyzing map data about the road network. The analyzing ofcurrent information includes analyzing information about features in thevicinity of the goal position as perceived by sensors. The sensors areon the vehicle. The analyzing of current information includes analyzingdistances of respective stopping places from the goal position. Theanalyzing of current information includes analyzing information aboutrespective positions of the vehicle at the potential stopping places.The analyzing of current information includes analyzing informationabout whether the vehicle can legally stop at the potential stoppingplaces. The analyzing of current information includes analyzing relativedesirability of potential stopping places. The analyzing relativedesirability of potential stopping places includes applying astatistical model to predict an expected feasibility state of a stoppingplace based on historical statistics of level of demand for parking andcurrent traffic volumes. The analyzing of current information includesidentifying a set of potential stopping places that are within aproximity region in the vicinity of the goal position. The analyzing ofcurrent information includes removing potential stopping places from theset that are not feasible stopping places for the vehicle. If nopotential stopping places remain after the removing, the proximityregion is enlarged. There may be no stopping place that is currentlyacceptable. Current information is analyzed about additional potentialstopping places in the vicinity of the goal position to make a choice ofa currently selected stopping place that is acceptable and feasible. Theadditional potential stopping places lie within a larger vicinity of thegoal position. The larger vicinity is determined based on informationprovided by a passenger of the vehicle. The larger vicinity isdetermined automatically based on pre-specified rules. The size of thelarger vicinity is less than a predetermined upper limit.

In general, in an aspect, and autonomous vehicle includes steering,acceleration, and deceleration devices that respond to signals from anautonomous driving control system to drive the vehicle autonomously on aspecified route through a road network defined by map data and toward aspecified goal position. Sensors on the vehicle perceive characteristicsof potential stopping places in the vicinity of the goal position. Acommunication feature sends the currently perceived characteristics tothe autonomous driving control system and receives from the autonomousdriving control system current information indicative of commands forthe steering, acceleration, and deceleration devices to cause thevehicle to drive to and stop at a currently selected stopping place.

Implementations may include one or a combination of two or more of thefollowing features. The autonomous driving control system includeselements onboard the vehicle. The autonomous driving control systemincludes elements remote from the vehicle. The sensors on the vehicleinclude video capture, LIDAR, or RADAR devices. The current informationreceived from the autonomous driving control system includes acontinuously updated choice of a selected stopping place.

In general, in an aspect, a planning process is associated with anautonomous vehicle. The planning process has inputs including static mapdata and dynamic data from sensors on the autonomous vehicle and outputsincluding a route to be driven through a road network to reach a goalposition, a continually updated choice of a currently selected stoppingplace in the vicinity of the goal position, and a trajectory to beexecuted through a road network to reach the currently selected stoppingplace. A communication element communicates information about theupdated choice of a currently selected stopping place to a device of apassenger, receives from the device of the passenger information aboutthe goal position, and delivers the information to the planning processas an input.

Implementations may include one or a combination of two or more of thefollowing features. The currently selected stopping place is updatedbased on non-feasibility of a currently selected stopping place. Theplanning process updates the selection of a stopping place based on theinformation from the device of the passenger about the stopping place.The communication element communicates to the device of the passengerthat the planning process has selected a stopping place. The informationreceived from the device of the passenger includes an indication that astopping place farther from the goal position would be acceptable. Theinformation received from the device of the passenger includes anindication of a maximum acceptable distance. The information receivedfrom the device of the passenger includes an indication of a new goalposition to be considered by the planning process. The informationreceived from the device of the passenger includes an indication thatfurther time spent searching for an acceptable stopping place would beacceptable to the passenger.

In general, in an aspect, stored data is maintained indicative ofpotential stopping places that are currently feasible stopping placesfor a vehicle within a region. The potential stopping places areidentified as part of static map data for the region. Current signalsare received from sensors or one or more other sources current signalsrepresenting perceptions of actual conditions at one or more of thepotential stopping places. The stored data is updated based on changesin the perceptions of actual conditions. The updated stored data isexposed to a process that selects a stopping place for the vehicle fromamong the currently feasible stopping places.

Implementations may include one or a combination of two or more of thefollowing features. The potential stopping places are initialized as allof the potential stopping places identified as part of the static mapdata for the region. The potential stopping places are discretized as afinite number of points within the region corresponding to potentialstopping places. A potential stopping place is defined as a shapecontaining one of the points, the shape corresponding to a footprint ofthe vehicle. An orientation is attributed to the shape, the orientationcorresponding to a direction of traffic flow. The potential stoppingplaces are initialized as potential stopping places expected to befeasible based on prior signals from sensors representing perceptions ofactual conditions at one or more of the potential stopping places. Thesensors include sensors located on the vehicle. The sensors includesensors located other than on the vehicle. Information is included inthe updated stored data about how recently the updating occurred, or thereason for the indication that a potential stopping place is feasible ornot feasible. The current signals received from sensors are receivedthrough V2V or V2I communication. The one or more other sources includecrowd-sourced data sources. The vehicle is part of a fleet of vehiclesmanaged from a central server and the method includes the serverdistributing information received from sensors at one of the vehicles toother vehicles of the fleet.

In general, in an aspect, a vehicle is caused to drive autonomouslythrough a road network toward a defined goal position, and, if nopotential stopping place that is in the vicinity of the goal positionand is acceptable and feasible can be identified, a human operator notonboard the vehicle is enabled to drive the vehicle to a stopping place.

Implementations may include one or a combination of two or more of thefollowing features. information is provided for presenting to the humanoperator a view associated with a state of the vehicle. The humanoperator is enabled to provide inputs to the steering, throttle, brake,or other actuators of the vehicle. The human operator is enabled todirectly control a trajectory planning process for the vehicle bymanually selecting a goal position for the vehicle or influencing theplanned trajectory to the goal position. A passenger in the vehicle isinformed or consent by a passenger in the vehicle is requested for thehuman operator to drive the vehicle to the stopping place.

In general, in an aspect, a vehicle is caused to drive autonomouslythrough a road network toward a defined goal position at which a stoppedactivity is to occur. A set of acceptable stopping places is identifiedin the vicinity of the goal position. The identifying of the setincludes: identifying a proximity region in the vicinity of the goalposition, identifying a goal region within the proximity region,discretizing the goal region to identify acceptable stopping placesgiven characteristics of the vehicle and of the stopped activityanalyzing current information about potential stopping places in thegoal region in the vicinity of the goal position to make a choice of acurrently selected stopping place that is acceptable and feasible.Current information is analyzed about the potential stopping places, tomake a choice of a currently selected stopping place that is acceptableand feasible the vehicle is caused to drive autonomously toward thecurrently selected stopping place. The activities are repeated until thevehicle stops at a currently selected stopping place.

Implementations may include one or a combination of two or more of thefollowing features. The analyzing of current information includesanalyzing a combination of static information that is known prior to thevehicle beginning to drive autonomously through the road network andinformation that is obtained during the autonomous driving. Theanalyzing of current information about potential stopping placesincludes continuously analyzing information from sensors on the vehicleor information from one or more other sources or both. If the vehiclehas not stopped at a currently selected stopping place that isacceptable and feasible within a specified amount of time and withinspecified thresholds for acceptability and feasibility, activities arerepeated using a relaxed threshold for acceptability, a relaxedthreshold for feasibility, or both. The analyzing of current informationincludes analyzing map data about the road network. The analyzing ofcurrent information includes analyzing information about features in thevicinity of the goal position as perceived by sensors. The analyzing ofcurrent information includes analyzing distance of respective stoppingplaces from the goal position. The analyzing of current informationincludes analyzing information about respective positions of the vehicleat the potential stopping places. The analyzing of current informationincludes analyzing information about whether the vehicle can legallystop at the potential stopping places. The analyzing of currentinformation includes analyzing relative desirability of potentialstopping places. The analyzing of current information includesidentifying a set of potential stopping places that are within aproximity region in the vicinity of the goal position. The analyzing ofcurrent information includes removing potential stopping places from theset that are not feasible stopping places for the vehicle.

These and other aspects, features, implementations, and advantages, andcombinations of them, can be expressed as methods, systems, components,apparatus, program products, methods of doing business, means and stepsfor performing functions, and in other ways.

Other aspects, features, implementations, and advantages will becomeapparent from the following description and from the claims.

DESCRIPTION

FIG. 1 is a block diagram.

FIGS. 2, 10, and 13 are schematic views of maps.

FIG. 3 is a screenshot.

FIG. 4 is a schematic diagram.

FIGS. 5 through 9 are schematic views of maps.

FIGS. 11, 12, 14, and 15 are flow diagrams.

The use of the following terms in this description are intended broadlyand meant to include, for example, what is recited after each of theterms.

Annotated map data—conventional road network map data used, for example,for autonomous driving systems that has been augmented with dataassociated with potential stopping places. Conventional road network mapdata can include some or all of the data mentioned in item 5. under theBackground heading above.

Autonomous vehicle (AV)—a vehicle that has autonomous drivingcapability.

Autonomous driving capability—an ability to safely and reliably drivethrough a road environment to a goal position while avoiding vehicles,pedestrians, cyclists, and other obstacles and obeying the rules of theroad.

Coordinates—geographic longitude and latitude.

Acceptable—satisfies one or more criteria for evaluating theappropriateness of a stopping place as a place where, for example, thepick up or drop-off or other stopped activity can be done safely orlegally or conveniently or expeditiously, among other criteria.

Stop—come to a halt for a limited period of time with the intention ofcompleting a stopped activity.

Stopped activity—an action that may occur at a stopping place (otherthan, for example, a stop made in the course of driving such as at astop sign or a traffic light), such as picking up or dropping off apassenger or parcel, or other action.

AV system—a set of elements or components or processes located on anautonomous vehicle or at other locations, or a combination of them, andthat together do the things that must be done in order to enable anautonomous vehicle to operate.

Passenger—a human being who is to be picked up or dropped off at astopping place by an autonomous vehicle and (for convenience andsimplicity in the prose) a human being who wants to have a parcel pickedup or dropped off by an autonomous vehicle.

Stopping place—an area that the vehicle occupies (identified by adefined shape, typically a rectangle, at a defined location in theworld) and a direction in which a vehicle is facing when stopped at thestopping place.

Acceptable stopping place—a stopping place that is acceptable because itis safe, legal, and convenient for the passenger.

Potential stopping place —a stopping place that is under considerationby an AV system.

Feasible stopping place—a stopping place that is possible for the AV toreach and stop at.

Currently selected stopping place—a stopping place that is currentlyselected by an AV system.

Actual stopping place—a stopping place where an AV actually stops.

Availability layer—a layer of annotated road data that identifiespotential stopping places included in the road data.

Goal position—a position that is an intended destination, is identifiedby coordinates on a road network, and has been specified by a passengeror an element of an AV system.

Proximity region—a region defined around or in the vicinity of the goalposition and entirely within a fixed configurable distance of a pointwithin the region (e.g., its center). The proximity region need not beround because the distance metric employed in calculation of the regionmay be defined in a non-Euclidean metric space.

Goal region—a region defined around or in the vicinity of the goalposition such that any stopping place within the goal region is anacceptable stopping place for the AV.

Sub-region—a portion of a region.

As shown in FIG. 2 , we describe techniques by which an AV system candetermine and continuously update a currently selected stopping place100 for an AV at or in the vicinity of a goal position 102 to which theAV is driving. At the currently selected stopping place, the AV willstop and engage in or enable a stopped activity, including, for example,picking up or dropping off a passenger 104 or a package 106 or both. Weuse the term “stop” broadly to include, for example, stop, park, orstand.

At least the following complexities must be taken into account indetermining and updating a selected stopping place:

1. The AV's goal position is often specified directly as geographiccoordinates (latitude and longitude) or indirectly by an address or someother form of identifier that can be translated into geographiccoordinates. Sometimes the goal position is specified by a passenger whowants to be picked up or dropped off by the AV roughly at that position,or by a user who wants to load a parcel onto the AV at that position fordelivery to another location, or unload a parcel. For simplicity we usethe word passenger to refer not only to a human rider but also to a userwho is to load or unload a parcel even though that user may not be arider in the AV.

As shown in FIG. 3 , a passenger 110 can specify a goal position bytyping out an address 112 or by dropping a pin 114 on a map 116 using atouch-based user interface 118 of a mobile app running on a user device120. In some cases, the coordinates that are entered directly or thatresult from translation of such an address or other identifier maycorrespond to a goal position that does not lie on a drivable road 122or other drivable feature of the road network, such as a goal positionwithin a building, waterway, park, or other non-drivable feature.

2. Even when the specified goal position is on a road or other drivablefeature, the coordinates may correspond to a location on the road thatis not an acceptable stopping place (e.g., because it is not a safe orlegal stopping place), such as a stopping place in the middle of theroad or at the side of a busy highway. We use the term “acceptable”broadly to refer to satisfying one or more criteria for evaluating theappropriateness of a stopping place as a place where, for example, thepick up or drop-off or other stopped activity can be done safely orlegally or conveniently or expeditiously, among other criteria.

3. The coordinates of the goal position may correspond to an acceptablestopping place 130 on a road or other drivable feature where, forexample, it is normally safe and legal for the AV to stop (e.g., a taxistand or a reserved parking space). Yet for a variety of reasons such asthe temporary presence of a parked vehicle or other obstacle orconstruction works 132, it may be temporarily impossible for the AV tostop there. In other words, such an acceptable stopping place is not afeasible stopping place.

4. The coordinates of the goal position may correspond to an acceptablestopping place where a road or driveway exists, but the AV may not havemap information sufficient to enable it to determine that the goalposition represents such an acceptable stopping place. This circumstancemay occur on private roads or grounds, such as private residences,shopping malls, corporate campuses, or other private sites. In otherwords, such an acceptable stopping place is not a feasible stoppingplace.

5. The coordinates of the goal position may correspond to an acceptablestopping place that would require passing through a feature that the AVcannot navigate. For example, the acceptable stopping place may liebeyond the entrance of a parking structure that requires humaninteraction (e.g., to retrieve a parking ticket), beyond a guard post orcheckpoint, or beyond a road region that the AV has otherwise identifiedas impassable (e.g., due to the presence of road construction). In suchcircumstances, the otherwise acceptable stopping place is not a feasiblestopping place.

In all of these cases and others, the AV needs to find a stopping placeon the road that is not only acceptable but is also a feasible stoppingplace.

Although we have been discussing considerations in selecting anacceptable and feasible stopping place that is in the vicinity of a goalposition that has been specified by a passenger, circumstances maysometimes require that the AV stop in the vicinity of a goal positionthat is not a passenger-specified goal position. For example, in theevent of a passenger medical emergency, the AV may be automaticallyre-directed to the closest medical center. Another example is that of acentrally coordinated service, where a central optimization algorithmasks an idle AV to reposition itself (for example, in expectation ofhigher passenger or freight demand around the new location). Thetechniques that we describe here are applicable to such other goalpositions as well. Thus, we use the term “goal position” broadly toinclude, for example, any position on the road network to which the AVis driving for the purpose of stopping.

Although we often refer to a goal position as a single specific locationdefined by geographic coordinates, a goal region 140 of a configurablesize and geometry can be defined around or in the vicinity of the goalposition coordinates. A goal region is the region within which it wouldbe acceptable for the AV to stop to engage in stopped activities, for agoal position located at the specified coordinates. If the AV were tostop at any stopping place within the goal region, it would beconsidered to have stopped acceptably near to the goal position, thatis, at an acceptable stopping place.

All potential stopping places that are acceptable (and therefore withinthe goal region) and feasible may not be equally desirable. For example,some of those feasible stopping places may be closer to the goalposition than others, making them more desirable.

Given an AV that has an autonomous driving capability, the techniquesand systems that we describe here enable the AV to select and then driveto a selected stopping place within the goal region that is acceptable,feasible, and desirable.

Data from road map data sources that was mentioned earlier is typicallyused for the purpose of AV routing and autonomous navigation. We assume,to the extent necessary for the techniques and systems mentioned here tofunction, that the data is augmented (if necessary) to include thefollowing annotated map data:

1. Data about areas that contain potential stopping places where it islegal for the AV to stop including the direction in which it is legalfor the AV to stop there, restrictions on how long the AV can stopthere, restrictions on what type of vehicles can stop there,restrictions on what activities stopped vehicles can engage in (e.g.,loading zones) and any other relevant information. For example, on busyroads it might only be legal to stop at the very edge of the road,adjacent to the curb. However, on a quiet residential street, it mightbe acceptable to double park and stop in the travel lane itself. Oncertain roads, stopping might be completely disallowed (except duringemergencies). On certain roads, it may not be legal to park during snowemergencies.

2. Data about areas that include potential stopping places where AVsmight not normally drive, but nevertheless are allowed to stop (e.g.,parking lots, driveways) and restrictions associated with those areas.These areas are specifically identified in the data to ensure that theAV system does not use these areas for any purpose other than stopping.

3. Data about areas that contain potential stopping places where it isnot legal for a vehicle to stop in any situation (e.g., no stoppingzones, in front of certain buildings such as fire stations, etc.) andany exceptions to those rules (e.g., a loading zone might permit cargodrop-offs but not passenger drop-offs.)

The process of gathering the annotated map data normally happens offlinebefore the data is in active use by the AV or may be streamed to thevehicle wirelessly as it travels. Also, some of this data may begathered in real-time using data from the AV's perception system.

Given an AV that has access to the annotated map data and has anautonomous driving capability, the process shown in FIG. 4 illustratesan example of how a selected stopping place may be determined. A widevariety of other sequences and components of the process could be used.

1. As shown in FIG. 4 , the geographic coordinates of the goal position200 of an AV are specified directly or inferred by the AV system 202 inone or more of the following ways and in other ways or combinations ofthem:

a. A passenger indicates a point on a map or an address 206 as the goalposition of the AV. This could be done on a mobile app, a kiosk, anotebook, a tablet, or a workstation 207, to name a few examples. Themap or address is communicated wirelessly to and received by acommunication element 208 of the AV system 202.

b. The AV system itself sets a goal position based on one or moreprocesses, for example, an emergency response process 210 that routes avehicle to the nearest hospital or a vehicle re-balancing process 212that routes the vehicle to a different goal position in a city, etc.

2. As shown in FIG. 4 , given the coordinates of a goal position, a goalregion 214 is defined by the AV system 202. The goal region containspotential stopping places (based on available annotated map data) whereit is acceptable for the AV to stop to perform a stopped activity. Asnoted before, not all of these potential stopping places may be feasibleor equally desirable. Also, the goal region may be updated for a varietyof reasons, for example, as more information becomes available.

As shown in FIG. 5 , to define the goal region, the AV system firstcreates and stores a proximity region 214. The proximity regioncomprises both acceptable and unacceptable stopping places. The goalregion is defined as the subset of the proximity region where allstopping places are acceptable. However, not all of these acceptablestopping places in the goal region are feasible or equally desirable. Sofinally, a stopping place is selected from the goal region that is bothfeasible and desirable, and the AV navigates to the currently selectedstopping place.

The proximity region is defined to be within, for example, a fixed,configurable distance 218 from the goal position. The center of thisproximity region could be the goal position itself, or a point 222 onthe drivable area of the map that is near (e.g., “nearest”) to the goalposition, or something similar.

This fixed configurable distance could be calculated by the AV system ina number of ways, including but not restricted to one or a combinationof:

1. Straight line distance (i.e., all points within a specific radiusfrom the center).

2. Manhattan or grid distance.

3. Walking distance (i.e., all points within a specific walking distancefrom the center).

4. Points that are within line of sight of the goal position (based onappropriate sightline data).

5. Other non-Euclidean distance measures

This allows the proximity region to take a variety of shapes beyond thatof a circle. We note that the actual shape of the proximity region isnot important, as long as it is well-defined.

The goal region is then determined by excluding from the proximityregion sub-regions where stopping is not allowed, and retaining thesub-regions where stopping is allowed, given the nature of the stoppedactivity, expected duration of stopping, nature of the AV, time of theday, etc. This can be done, for example, by determining the intersectionof the areas in the annotated map data where stopping is allowed (giventhe nature of the stopped activity, expected duration of stopping,nature of the AV, time of the day, etc.) with the proximity region. Suchgeospatial intersections may be performed using available commercial oropen-source software, for example ArcGIS, MongoDB.

Examples of such sub-regions include one or more of the following:

a. Certain areas such as loading zones might be used for cargo (wesometimes use the word cargo interchangeably with parcel) pickups anddrop-offs, but not for passengers. Similarly, certain driveways might beusable for passengers but not for cargo. Such restrictions could be partof the annotated map data. Therefore, depending on the purpose of thestopped activity (which could be provided by the passenger or the AVsystem or another source), certain sub-regions can be excluded from theproximity region.

b. Some sub-regions might be excluded because the allowed stopping timein the stopping places in that sub-region is not sufficient to carry outthe stopped activity. The estimated duration of the stopped activity canbe influenced by a number of factors including one or more of thefollowing. A pickup is generally slower than a drop-off as the passengermight need first to locate the AV and confirm his identity to the AV.Cargo stops might be slower than for passengers because of time neededto load or unload. Multiple passengers getting in or out of the AV mightbe slower than a single passenger. Certain sub-regions of the goalregion might have restrictions (captured in the annotated map data) onhow long a vehicle can stop there and therefore might not be suitablefor some stopped activities. Independent configurable time parameterscan be defined that relate to the expected time required for a pickup,drop-off, loading of cargo, unloading of cargo, and loading andunloading of one or multiple passengers or for other stopped activities.Certain sub-regions can then be excluded from the proximity region ifthe allowed stopping time in that sub-region is less than the expectedstopping time of the stopping activity.

c. Some vehicle types (e.g., trucks or buses) might not be allowed tostop in certain zones. The vehicle type is known to the AV system.Certain sub-regions can then be removed from the proximity region ifthey correspond to zones where the AV is not allowed to stop.

d. Some large vehicles 240 (e.g., trucks or buses) might not physicallyfit into a certain zone, depending on the shape and size of the vehiclerelative to that of the zone. To ascertain this, an AV footprint area(normally a rectangle) 242 is defined by the AV system corresponding tothe footprint of the AV with a margin added in each dimension to accountfor overhangs and errors and provide a safety margin. Any sub-region ofthe proximity region that is unable to fully contain this AV footprintarea is then excluded from the proximity region.

e. Even though some part of the proximity region, say a parking space ata particular stopping place, is able to accommodate the AV configurationarea, the driving approaches to reach that space may be too small forthe AV footprint area. In other words, the stopping place is not afeasible stopping place because no feasible path exists for the AV toreach that stopping place. This situation is accommodated as part of thetrajectory planning process described later.

A proximity region in the vicinity of the road network can be annotatedto exclude sub-regions that relate to the particular stopped activity,the AV, or the time of day.

An example of a goal region 250 is shown in a checkerboard pattern inFIG. 6 . The exclusion of sub-regions from the proximity region yieldsthe goal region 250.

Although the goal region or the proximity region can be defined as amathematical set having potentially an infinite number of potentialstopping places 252, in some implementations this can be discretizedinto a set having a finite number of potential stopping places using anumber of well-known discretization strategies (e.g., random sampling,uniform sampling). These sampling strategies would yield a finite numberof points within the proximity region. A stopping place could beconstructed around each of these sampled points, for example, by drawinga rectangle corresponding to the AV's footprint around the sampledpoint. The sampled point could be the centroid of the rectangle. Thesize of the rectangle would have to be sufficient to accommodate thefootprint of the AV including space for overhangs or a safety buffer onall sides. The orientation of the rectangle would be determined by thedirection of the traffic flow at that point. For example, if the sampledpoint is on a traffic lane, the vehicle would have to stop in thedirection of the traffic flow. The rectangle would be orientedaccordingly and would be characterized both by its size, boundaries andits orientation. If the rectangle thus specified falls entirely withinthe proximity region, the stopping place that it represents would beconsidered to be a part of the proximity region.

As mentioned above, each potential stopping place in the goal region isassociated with a direction in which it is legal for the leading end ofthe AV to point when stopped. This direction is inferred from theannotated map data which specifies legal driving directions for allparts of the roads and other drivable features, including traffic lanes.

FIG. 7 illustrates a few sample stopping places 251 (rectangles witharrows pointing in the direction that the leading end of the AV mustface). The direction of a stopping place is inferred from the directionof travel 253 in the lanes which are shown with dashed arrows. A goalregion might have an infinite number of valid stopping places and thestopping places shown in FIG. 7 are merely a sample.

As noted before, all stopping places within the goal region areconsidered acceptable stopping places, though they may not all befeasible stopping places or equally desirable.

If the goal region has no acceptable stopping places, i.e., it is empty,then the system may expand the size of the proximity region andre-calculate the goal region. This expansion may be done automaticallyby the AV system, or by presenting the option to the passenger throughthe user interface, or by a combination of both.

As shown in FIGS. 9 and 10 , in an example of a user interface 400 forpresenting options of the passenger, if the initial proximity region 410comprised stopping places that are within a certain distance, say 100meters, of the goal position 420, the goal region 430 may be empty (i.e.it contains no acceptable stopping places). The passenger could beprompted (through a smartphone app that was used for booking the ride,or through a touch-screen inside the car in the case of a stop in whichthe stopping activity is to drop a passenger, for example) and asked if,for example, double the walking distance associated with the initialproximity region would be acceptable to the passenger, as shown in theuser prompt 440. In some cases, the user interface could allow thepassenger to specify the maximum walking distance that is acceptable tothe passenger. In some instances, the user interface could allow thepassenger to specify the proximity region more directly, for instance byallowing the passenger to draw the region or by providing a mechanismfor the passenger to relocate the boundaries of the region, for exampleusing a boundary expansion tool 450 (which is an example of atouch-based drag and drop tool). The expanded proximity region 460 andthe expanded goal region 470 may also be shown to the passenger.

The expansion may be subject to some upper limit on the size of theproximity region. It is possible that despite expansion up to the upperlimit, the goal region may still be empty. This could happen, forexample, if the goal position is in the middle of a large field or amilitary installation. In these cases, the passenger will be informedthrough the user interface that no acceptable stopping places may befound in the vicinity of the goal position, and the passenger may berequested to select a different goal position. FIG. 15 shows a flowchartof the activities involved in an example of the process used if the goalregion is empty.

Not all stopping places are equally desirable for stopping. Thedesirability of a stopping place depends on, for example, quantifiablefactors such as, but not limited to, the following:

1. Walking distance to the goal position from the stopping place. Thisdistance 256 (FIG. 4 ) is computed by the AV system using one or acombination of distance metrics, such as the Euclidean distance,Manhattan distance, or another metric, or using exact information aboutwalking paths obtained from the map data. Generally, a stopping placethat has a shorter walking distance is more desirable.

2. Covered walking distance to a goal position from the stopping place(i.e., walking distance with protection from the weather). Again, thiscovered distance 258 can be computed using one or a combination ofdistance metrics, such as the Euclidean distance, Manhattan distance, oranother metric. Generally, a stopping place that has a shorter covereddistance is more desirable. In some scenarios a covered walking path ordata about the coverage of walking paths might not exist.

3. Clear sightline to the goal position, because it is generallydesirable for a passenger at the goal position to be able to see astopped AV based on its stopping place. The presence of a clearsightline 260 from the stopping place under consideration to a passengerat the goal position can be inferred given a 3D model of the localenvironment that includes the dimensions and locations of buildings andother objects, such as is available from sources such as Google Earth.

4. Distance from the curb. Stopping place that are closer to curbs aregenerally preferred as they allow the passenger to access the AV moreeasily. Information about curbs may be part of the annotated map data ormay be perceived by sensors on the AV.

5. Type of road. Generally, it is desirable for the AV to stop on a roadthat has fewer lanes or has a lower speed limit or both. The laneconfiguration and speed limit information may be part of the annotatedmap data.

6. Expected or actual traffic. Generally, it is desirable for the AV topick up or drop off a passenger or parcel on a road that is lesstrafficked as determined, for example, by AV system analysis ofhistorical traffic data or data 270 collected by sensors mounted on theAV or both.

7. Designated stopping area. Generally, it is desirable for the AV tostop at a pre-defined stopping zone such as a taxi stand, a hotelpick-up and drop-off zone, a loading zone or other pre-defined stoppingzone, compared to stopping in the travel lane of a road.

Given that the desirability of a stopping place depends on a variety offactors of different types, it is useful to combine them in a way thatfacilitates comparisons of the relative desirability of differentstopping places. One or a combination of two or more of the followingapproaches can be used by the AV system in taking account of thefactors:

1. The AV system creates a generalized cost or utility function 274 forstopping places that normalizes all factors (using calibrated weights orscaling factors) to create a single cost or utility value 276 associatedwith each stopping place. These costs or utilities, being numbers, canthen be directly compared. The cost function can be continuous (e.g.,the Euclidean distance from the stopping place to the goal position) orbinary (e.g., a certain non-zero cost if a sightline between thestopping place and destination point does not exist, and a cost of zeroif a sightline does exist). The cost can also depend on the type ofstopped activity, e.g., whether it is a pickup or drop-off of apassenger, multiple passengers, or a parcel.

2. The AV system converts each factor to a 0-1 range and applies fuzzylogic rules to compare stopping places.

3. The AV system uses a prioritized comparison, in which factors thatare defined to be more important are compared before factors that areless important. This kind of prioritized comparison can also imposeminimum and maximum values on each factor to ensure that the selectedstopping place meets the maximum and minimum requirements for eachfactor.

4. The AV system creates ranks such that a stopping place with a higherrank is more desirable than a stopping place with a lower rank. The goalregion might be subdivided into sub-regions each with its own rank, andall stopping places within a sub-region could share the same rank, i.e.,desirability.

As shown in FIG. 4 , based on the previous activities the AV system candetermine and store the goal region 250 containing a set of stoppingplaces all within the goal region, where stopping is acceptable giventhe nature of the stopped activity and the AV. A desirability index orutility or cost or rank (i.e., a measure of desirability) can beassociated with each stopping place in the goal region. FIG. 11 shows aflowchart of the activities involved in an example of the process ofdefining a goal region.

The AV system also maintains what we term an availability layer 282 thatcan be thought of as an overlay on the map's potential stopping places.This availability layer of the annotated map data identifies to the AVsystem, for each potential stopping place, whether the potentialstopping place is a feasible stopping place.

If no prior information on the feasibility of stopping places isavailable, the availability layer can be initialized by assuming thatall potential stopping places are feasible stopping places. Prior dataabout stopping places 284, if available, for example, from previoustrips or from other vehicles or from sensor infrastructure, can be usedto initialize the layer with stopping places expected to be feasible,while identifying those are not expected to be feasible.

The availability layer is continually updated in real time as, forexample, the AV perceives new information from its sensors. Thisinformation can come, for example, from a variety of sensors such asLIDAR, Radar, ultrasonic, video camera, IR, etc., which allow the AV todetermine the shape and position of objects in its environment.

For example, LIDAR data allows an AV to find other vehicles in itsenvironment. The areas occupied by those vehicles (along with a bufferassumed to be around each of the vehicles to account for sensing erroror vehicle overhangs) can then be removed from the availability layer asthese areas are not available to the AV for stopping. Similarly, objectssuch as traffic cones or road signs (denoting construction work) can bedetected using a combination of LIDAR and video cameras. Sometimes anobject can be detected but cannot be classified, for example, a fallentree or construction debris. In these cases, the AV system may note thatthe related area is not available and therefore remove it from theavailability layer. In some cases, an object may be detected but doesnot represent an obstacle to stopping (for example, a movingpedestrian). In those cases, the corresponding stopping places can beretained in the availability layer.

FIG. 8 shows an example of what an AV 300 that is approaching its goalposition 302 perceives and how the availability layer 282 is updated asa result of that perception. The checkerboard pattern 306 denotes thepart of the goal region that includes only stopping places that arefeasible.

The availability layer is updated frequently, using both the AV's ownperception data and external information. The frequent updating isimportant because the AV can stop only at a stopping place 308 that itis currently perceiving as being feasible. A stopping place that wasassumed to be feasible (because of previous perception or informationfrom another vehicle, etc.) might not actually be available (e.g.,feasible) when the AV approaches that stopping place and sees for“itself”. Similarly, a stopping place that was previously thought to beunavailable (and therefore infeasible) might actually be available (andtherefore feasible) when the AV perceives it directly.

In addition to the last known feasibility status, the availability layerin the annotated map data could also store, for each potential stoppingplace:

1. The time of the most recent update of the stopping place status 310,as it is a measure of the current accuracy of the information. Astopping place that was reported being infeasible two minutes ago ismore likely to remain unfeasible than a stopping place that was reportedbeing infeasible twenty minutes ago.

2. The reason for the stopping place's infeasibility 312. For example,if the stopping place was infeasible because of the presence of anothercar, then the AV system might expect it to become available later. Onthe other hand, if the stopping place was infeasible because ofconstruction works, the AV system might not expect that stopping placeto become feasible for the rest of the day or for several days.Potentially the AV system could modify the map to reflect thatcircumstance.

The likelihood that a stopping place that is marked as infeasible in theavailability layer might become feasible by the time the AV reaches thatstopping place (and vice versa) depends on several factors, includingamong others: freshness of the information (time elapsed since lastupdate); historical statistics on the level of demand for parkingrelative to supply in that area at that time of the day; the reason forthe infeasibility of that stopping place; and the current trafficvolumes around that stopping place (derived from the AV's perceptionsystem, potentially supplemented by information from other AVs orsensors). The AV system could use a statistical model 314 that predictsthe expected feasibility state of a stopping place (or a similarmetric), given some or all of the data points, along with a confidencebound for that estimate. Such a metric could contribute to thecalculation of the desirability value of a potential stopping place. Astopping place that is more likely to be available is more desirablethan an equivalent stopping place that is less likely to be available.

The availability layer can be updated using information received fromother AVs (either directly or through a central cloud server).Therefore, as part of an interconnected fleet of AVs or manually drivenvehicles that are equipped with V2V (vehicle-to-vehicle) communicationcapabilities, the AV might have foreknowledge of which stopping placesare available without the AV actually having seen them. The availabilitylayer can also be updated using information from sensors that are fixed(e.g., sensors inside parking garages or sensors monitoring city parkingspaces), from crowd-sourced data (e.g., apps such as Waze on whichpeople report construction work, etc.) and from a variety of othersources.

Typically, the AV system executes a trajectory planning process 326 aspart of its autonomous capability, which attempts to identify atrajectory from the AV's current position to a specified destination onthe drivable area of a map. The result of the trajectory planningprocess is a continuously updated selected stopping place in the goalregion, and a feasible trajectory to reach the currently selectedstopping place, if one exists. We emphasize that the trajectory planningprocess routes the vehicle to the currently selected stopping place, andnot the goal position specified by the user or the system, as that maynot represent an acceptable and feasible stopping place.

If no feasible trajectory exists to the currently selected stoppingplace, the trajectory planning process updates its choice of selectedstopping place. This may happen, for example, if the approaches to thecurrently selected stopping place are blocked or cannot accommodate theAV. This trajectory planning process continues as long as the AV has notstopped at the currently selected stopping place. FIG. 12 shows aflowchart of the activities involved in an example of the process oftrajectory planning.

The trajectory planning process is executed simultaneously andasynchronously with the AV's perception process 328. As the perceptionprocess updates the availability layer, the currently selected stoppingplaces may become unfeasible, for example, because some other vehiclehas now occupied one of the stopping places. In addition, it is possiblethat a more desirable stopping place within the goal region that waspreviously unavailable, is now available and therefore feasible.Therefore, the trajectory planning process may be forced to update itsselected stopping place and the corresponding trajectory to thatselected stopping place, multiple times.

The stopping place in the goal region that is selected by the trajectoryplanning process depends on: (1) feasibility of the acceptable stoppingplaces within the goal region, as determined in real-time by theavailability layer via the perception process, (2) the relativedesirability of the acceptable stopping places within the goal region,as computed by static or real-time data or both, and (3) theoptimization objective of the algorithm that determines the trade-offbetween coming to a stop sooner versus spending more time to find a moredesirable stopping place.

Some examples of strategies are:

1. Stop at the first feasible stopping place in the goal region (oftencalled the “greedy” approach).

2. Stop at the most desirable among the currently feasible stoppingplaces in the goal region.

3. If the AV has not stopped at a stopping place within a specifiedamount of time, stop searching for the most desirable stopping place,and instead find the first available stopping place in the goal regionand stop there.

These objectives can be used to effect a trade-off between selecting thebest possible stopping place and the time and effort spent in searchingfor it.

As shown in FIG. 13 , in some cases, the AV system may ask the user tochoose a stopping place from among a set of stopping places. Atouch-based user interface 500 can show the passenger a choice of, forexample, three acceptable and feasible stopping places (A, B and C) 520that are within the proximity region defined around the goal position510. The user may select from one of the three stopping places bytouching the appropriate stopping place. In some instances, the user maybe able to select the desired stopping place using a voice command thatreferences the stopping place name, for example, “Stop at A”. Asmentioned before, the goal region may contain an infinite number ofpotential stopping places or a finite number which is still too large topresent to the passenger. Therefore, the AV system may choose a limited(likely pre-specified) number of stopping places to present to thepassenger. These may be stopping places that are relatively desirableand relatively more likely to be available (e.g., the status of theupdate was updated relatively recently) while being sufficientlydifferent from each other (e.g., non-overlapping).

The user input may be optional, in that the AV system may automaticallychoose a stopping place if the user does not make a choice within aspecified amount of time. When the AV system chooses a stopping placeautomatically, the selected stopping place may be communicated to thepassenger, for example, on a map-based interface on the passenger'smobile device or on a display located in the vehicle. Further, thepassenger may be given the choice of changing the system-selectedstopping place to one of the passenger's own choosing through aninterface, such as the one described for FIG. 13 .

As the AV system explores the goal region to select a stopping place,the AV system can revisit stopping places that had been perceived asunfeasible in the hope that they might now be feasible.

The trajectory planning process can communicate with a passenger to keepher informed of the AV's progress. A passenger can be informed that theAV has found an acceptable stopping place or informed when the AV hasstopped at a stopping place, or both.

If the AV is unable to stop at an acceptable, feasible stopping placewithin a specified amount of time, the AV system may adopt strategies todeal with that situation.

FIG. 14 shows a flowchart of the activities involved in an example ofthe process of expanding the analysis if the AV cannot come to a stop,including the following:

1. Expand the goal region around the goal position with theunderstanding that this might require the passenger to walk a greaterdistance. This may be done automatically by the AV system. The AV systemmay have stored a specified maximum distance from the goal position thatis acceptable for the goal region. The initial proximity region (andgoal regions) might include stopping places that are significantlycloser to the goal position than this specified maximum distance toenable the AV system to find as close a stopping place as possible. Ifthe initial search does not yield a feasible stopping place, theproximity region (and correspondingly the goal region) may incrementallybe expanded to include more stopping places that are farther away fromthe goal position, but still within the specified maximum distance fromthe goal position. The passenger may provide information or choices thatcontrol the increasing of the size of the proximity region (andcorrespondingly the goal region) in response to requests posed to thepassenger through the user interface (such as a smartphone or a tablet,located in the car or belonging to the user). One of the pieces ofinformation that may be specified by the user, for example, is themaximum distance (or other distance measure) from the goal position thatis acceptable to the user. If the system is unable to find a stoppingplace within this distance, the user may be prompted to increase thespecified distance, subject to some specified limit. In someimplementations a combination of processes running on the AV system andinput from the passenger can be used to control the expansion of theregions.

2. Search the existing goal region again for a specified amount of timein the hope that a stopping space that was previously unavailable is nowavailable. The user may be given the option via a user interface locatedin the car or on a device belonging to the user, to allow the AV moretime to search the goal region, subject to some specified limit.

3. Change the AV's goal position to a new goal position where anacceptable, feasible stopping place may be more easily found. This maybe done by the passenger using a user interface similar to what was usedto specify the initial goal position. The passenger may have, forexample, the option of dropping a pin on a map or typing out an addressor searching a location service such as Google Maps.

4. The AV may switch to a tele-operation or remote operation mode inwhich the control of the operation of the AV switches, partially orfully, from the AV system to a human operator typically located at acentral operations control center. Tele-operation systems typicallystream live data from the AV to a remote location using wirelesstransmitters located on the AV. This data may include, but is notlimited to, some combination of: (1) raw data from the sensors onboardthe AV (for example, a live video stream from the on-board cameras), (2)processed data from the computers on board the AV (for example, dataabout detected and classified objects, or a rendering of the worldaround the AV that has been created by fusing data from multiplesensors), (3) data from other systems (for example, outputs from thetrajectory planning process), (4) data about the actuators on the AV(such as the throttle, brake, steering), (5) data about the currentposition, speed, acceleration and orientation of the car from thelocalization system, and (6) data from the AV's health monitoring system(for example, sensor health, battery status, etc.). This data istypically viewed by a tele-operator or other remote operator who islocated at a central operations control center and who can then decidehow to drive and otherwise control the AV. The tele-operator may havethe ability to control the AV by directly providing inputs to thesteering, throttle, brake and other actuators (for example, in themanner in which driver training simulators function). The tele-operatormay have the ability to directly control the trajectory planning processby manually selecting a goal position for the vehicle, or influencingthe trajectory to the goal position (by specifying the entiretrajectory, or providing waypoints, or by some other method). Thetransition from autonomous to tele-operation mode should be handled withcare. Such a transition would normally take place when the AV is notmoving, although the AV may not be stopped at an acceptable stoppingplace. If there is a passenger in the AV, the passenger may be informedabout or asked to approve the remote operation. This passengercommunication may take place through a user interface in a smartphonebelonging to the passenger, or a smartphone or tablet located in the AV,or some other such device.

5. Providing the passenger the option of switching the AV from anautonomous mode to a partially or fully manual mode (if there is apassenger in the AV who is legally authorized and willing to drive itseated in the driver's seat and the AV has a manual mode) so that thepassenger may locate an acceptable, feasible stopping place. Thetransition from autonomous to manual mode should be handled with care. Atransition would normally take place when the AV is not moving, althoughthe AV may not be stopped at an acceptable stopping place. The passengermay be informed about the option, and her approval sought, through auser interface in a smartphone belonging to the passenger, or asmartphone or tablet located in the AV, or some other such device.Furthermore, the passenger may be required to ensure that the stoppingplace chosen manually is one from which the AV can resume autonomousoperation after the passenger has exited the AV. A tele-operator maytake control of the AV after the passenger has exited the AV, and bringthe AV to a position at which autonomous mode may be engaged.

6. In the case of a passenger in the AV, returning toward the knownstart position and offering to stop at the first feasible stopping placeas it travels back toward the start position. This stopping place may ormay not be within the goal region.

7. In the case of a parcel in the AV, returning towards the known startposition and alerting the sender of the package to unload the packagefrom the AV. Or giving the sender, through a user interface such as asmartphone app, the option of specifying an alternative time when thedelivery would be attempted.

8. Aborting the stop. If the stopped activity involves a pickup, the AVsystem may inform the passenger that a stopping place cannot be foundand that the pickup request has been canceled.

Other implementations are also within the scope of the following claims.

The invention claimed is:
 1. A computer-based method comprising:selecting, by a vehicle computer, a proximity region that is within afirst distance from a goal position; obtaining, by the vehicle computer,a goal region by excluding from the proximity region one or moreportions of the proximity region where stopping is not feasible;discretizing, by the vehicle computer, the goal region into a set ofpotential stopping places, wherein each potential stopping placeincludes an area that accommodates a footprint of the vehicle;determining, by the vehicle computer, a quality score for each potentialstopping place; in response to the vehicle identifying a stopping placefrom the potential stopping places in the goal region within a specifiedperiod of time, causing the vehicle to drive autonomously to and stop atan identified stopping place with a highest quality score; and inresponse to the vehicle not identifying the stopping place from thepotential stopping places in the goal region after the specified periodof time, receiving, from a human teleoperator located at a centraloperations control center, a signal to cause the vehicle to drive to adifferent stopping place of the potential stopping places; wherein thesignal from the human teleoperator indicates a selection by the humanteleoperator of the different stopping place for the vehicle or atrajectory to the different stopping place for the vehicle.
 2. Themethod of claim 1, further comprising providing information forpresenting a state of the vehicle to the human teleoperator.
 3. Themethod of claim 1, further comprising receiving from the humanteleoperator one or more inputs to steering, throttle, brake, or otheractuators of the vehicle.
 4. The method of claim 1, further comprisingreceiving from the human teleoperator a signal to manually control atrajectory planning process for the vehicle, the signal from the humanteleoperator indicating a selection of a goal position by the humanteleoperator for the vehicle or determine a trajectory to the goalposition.
 5. The method of claim 1, further comprising informing apassenger in the vehicle or requesting consent by a passenger in thevehicle to allow the human teleoperator to drive the vehicle to thestopping place.
 6. The method of claim 1, further comprising expandingthe proximity region by increasing the first distance from the goalposition.
 7. The method of claim 1, wherein determining the qualityscore comprises determining a second distance from the stopping place tothe goal position.
 8. A vehicle comprising: one or more computerprocessors; one or more non-transitory storage media storinginstructions that when executed by the one or more computer processors,cause performance of operations comprising: selecting a proximity regionthat is within a first distance from a goal region; obtaining a goalregion by excluding from the proximity region one or more portions ofthe proximity region where stopping is not feasible; discretizing thegoal region into a set of potential stopping places, wherein eachpotential stopping place includes an area that accommodates a footprintof the vehicle; determining a quality score for each potential stoppingplace; in response to the vehicle identifying a stopping place from thepotential stopping places in the goal region within a specified periodof time, causing the vehicle to drive autonomously to and stop at anidentified stopping place with a highest quality score; and in responseto the vehicle not identifying the stopping place from the potentialstopping places in the goal region after the specified period of time,receiving, from a human teleoperator, located at a central operationscontrol center, a signal to cause the vehicle to drive to a differentstopping place of the potential stopping places; wherein the signal fromthe human teleoperator indicates a selection by the human teleoperatorof the different stopping place for the vehicle or a trajectory to thedifferent stopping place for the vehicle.
 9. The vehicle of claim 8,wherein the operations further comprise: providing information forpresenting a state of the vehicle to the human teleoperator.
 10. Thevehicle of claim 8, wherein the operations further comprise: receivingfrom the human teleoperator one or more inputs to steering, throttle,brake, or other actuators of the vehicle.
 11. The vehicle of claim 8,wherein the operations further comprise: receiving from the humanteleoperator a signal to manually control a trajectory planning processfor the vehicle, the signal from the human teleoperator indicating aselection of a goal position by the human teleoperator for the vehicleor determine a trajectory to the goal position.
 12. The vehicle of claim8, wherein the operations further comprise: informing a passenger in thevehicle or requesting consent by a passenger in the vehicle to allow thehuman teleoperator to drive the vehicle to the stopping place.
 13. Thevehicle of claim 8, wherein the operations further comprise: expandingthe proximity region by increasing the first distance from the goalposition.
 14. The vehicle of claim 8, wherein determining the qualityscore comprises determining a second distance from the stopping place tothe goal position.
 15. One or more non-transitory storage media storinginstructions which, when executed by one or more computing devices,cause performance of operations comprising: selecting a proximity regionthat is within a first distance from a goal position; obtaining a goalregion by excluding from the proximity region one or more portions ofthe proximity region where stopping is not feasible; discretizing thegoal region into a set of potential stopping places, wherein eachpotential stopping place includes an area that accommodates a footprintof a vehicle; determining a quality score for each potential stoppingplace; in response to the vehicle identifying a stopping place from thepotential stopping places in the goal region within a specified periodof time, causing the vehicle to drive autonomously to and stop at anidentified stopping place with a highest quality score; and in responseto the vehicle not identifying the stopping place from the potentialstopping places in the goal region after the specified period of time,receiving, from a human teleoperator, located at a central operationscontrol center, a signal to cause the vehicle to drive to a differentstopping place of the potential stopping places; wherein the signal fromthe human teleoperator indicates a selection by the human teleoperatorof the different stopping place for the vehicle or a trajectory to thedifferent stopping place for the vehicle.
 16. The non-transitory storagemedia of claim 15, wherein the operations further comprise: providinginformation for presenting a state of the vehicle to the humanteleoperator.
 17. The non-transitory storage media of claim 15, whereinthe operations further comprise: receiving from the human teleoperatorone or more inputs to the steering, throttle, brake, or other actuatorsof the vehicle.
 18. The non-transitory storage media of claim 15,wherein the operations further comprise: receiving from the humanteleoperator a signal to manually control a trajectory planning processfor the vehicle, the signal from the teleoperator indicating a selectiona goal position by the human teleoperator for the vehicle or determine atrajectory to the goal position.
 19. The non-transitory storage media ofclaim 15, wherein the operations further comprise: informing a passengerin the vehicle or requesting consent by a passenger in the vehicle toallow the human teleoperator to drive the vehicle to the stopping place.20. The non-transitory storage media of claim 15, wherein the operationsfurther comprise: expanding the proximity region by increasing the firstdistance from the goal position.